nav_line_border.c File Reference

navigate along a border line (line 1-2) with turns in the same direction More...

#include "modules/nav/nav_line_border.h"
#include "generated/airframe.h"
#include "firmwares/fixedwing/nav.h"

Include dependency graph for nav_line_border.c:

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Enumerations
enum	line_border_status {   LR12, LQC21, LTC2, LQC22,   LR21, LQC12, LTC1, LQC11 }

Functions
void	nav_line_border_setup (void)
bool	nav_line_border_run (uint8_t l1, uint8_t l2, float radius)

Variables
static enum line_border_status	line_border_status

Detailed Description

navigate along a border line (line 1-2) with turns in the same direction

you can use this function to navigate along a border if it is essetial not to cross it navigation is along line p1, p2 with turns in the same direction to make sure you dont cross the line take care youre navigation radius is not to small in strong wind conditions!

Definition in file nav_line_border.c.

Enumeration Type Documentation

enum line_border_status

Enumerator
LR12
LQC21
LTC2
LQC22
LR21
LQC12
LTC1
LQC11

Definition at line 37 of file nav_line_border.c.

Function Documentation

bool nav_line_border_run	(	uint8_t	l1,
		uint8_t	l2,
		float	radius
	)

Definition at line 45 of file nav_line_border.c.

References point::a, CARROT, LQC11, LQC21, LR12, LR21, LTC1, LTC2, nav_circle_XY(), nav_init_stage(), NavApproachingFrom, NavQdrCloseTo, NavSegment, NavVerticalAltitudeMode, NavVerticalAutoThrottleMode, radius, WaypointAlt, waypoints, WaypointX, WaypointY, point::x, and point::y.

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void nav_line_border_setup

(

void

)

Definition at line 40 of file nav_line_border.c.

References LR12.

Variable Documentation

enum line_border_status line_border_status

static

Definition at line 38 of file nav_line_border.c.